Optimized Design of the Grasping Mechanism for Floating Island Vegetation Laying Boat
To address the technical challenges of accurate deployment of ecological floating islands in dynamic water environments, this study proposes an intelligent operation system integrating high-precision positioning and adaptive grasping capabilities. Through hydrodynamic disturbance spectrum analysis, a wave-structure coupling dynamic model was established, and an innovative composite control strategy based on PID control and wave feedforward compensation was developed. At the same time, the system adopts a three-degree-of-freedom spatial motion structure, integrating a non-contact electromagnetic adsorption end effector with a funnel guidance structure, achieving adaptive grasping within a load range of 10±2 kg, and completely avoiding damage to the HDPE surface. By optimizing the design of the clamping mechanism, its static stiffness was increased by 42%, and the fatigue life exceeded 1×10^6 cycles. This design effectively solves the precise operation challenges of floating island engineering equipment in dynamic water environments, providing key technical support for the large-scale application of ecological floating island technology.
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